A Novel Nonlinear Filter for Initial Alignment in Strapdown Inertial Navigation System

摘要：

The error model is nonlinear when the azimuth angle of strapdown inertial navigation system (SINS) on stable base is large, and a new filter results from using Unscented Kalman filter for proposal distribution generation imbedding latest observed measurements in importance sampling step, and combining Gaussian mixture model and weighted expectation maximization (EM) algorithm to replace the traditional resampling step. And the “sample depletion problem was lessened. It is demonstrated by simulation that this new approach has an improved estimation performance in Initial Alignment of Large Azimuth Misalignment on Static Base of SINS.

作者: Xiang Li Liu Yu Su Baoku Jiang Xiaoxiong

作者单位: Space Control & Inertial technology research center,Harbin Institute of Technology Harbin 150001,China

会议类型: 国际会议

会议名称: The 2nd International Symposium on Systems and Control in Aeronautics and Astronautics(第二届航空航天系统与控制国际会议 ISSCAA 2008)

会议地点: 深圳

会议语种:英文

页码: 1009-1014

在线出版日期: 2008-12-10（万方平台首次上网日期，不代表论文的发表时间）